src/creature/creature.cpp

   1 #include "Composition.hpp"
   2 #include "Creature.hpp"
   3 #include "Genome.hpp"
   4 #include "Memory.hpp"
   5 #include "NameGenerator.hpp"
   6 #include "Situation.hpp"
   7 #include "Steering.hpp"
   8
   9 #include "AttackGoal.hpp"
  10 #include "BlobBackgroundTask.hpp"
  11 #include "Goal.hpp"
  12 #include "IdleGoal.hpp"
  13 #include "../app/Assets.hpp"
  14 #include "../graphics/color.hpp"
  15 #include "../math/const.hpp"
  16 #include "../ui/string.hpp"
  17 #include "../world/Body.hpp"
  18 #include "../world/Planet.hpp"
  19 #include "../world/Simulation.hpp"
  20 #include "../world/TileType.hpp"
  21
  22 #include <algorithm>
  23 #include <sstream>
  24 #include <glm/gtx/rotate_vector.hpp>
  25 #include <glm/gtx/transform.hpp>
  26 #include <glm/gtx/vector_angle.hpp>
  27
  28 #include <iostream>
  29 #include <glm/gtx/io.hpp>
  30
  31 using blobs::graphics::hsl2rgb;
  32 using blobs::graphics::rgb2hsl;
  33
  34
  35 namespace blobs {
  36 namespace creature {
  37
  38 Composition::Composition(const world::Set<world::Resource> &resources)
  39 : resources(resources)
  40 , components()
  41 , total_mass(0.0)
  42 , total_volume(0.0)
  43 , state_mass{0.0} {
  44 }
  45
  46 Composition::~Composition() {
  47 }
  48
  49 namespace {
  50 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  51         return b.value < a.value;
  52 }
  53 }
  54
  55 void Composition::Add(int res, double amount) {
  56         bool found = false;
  57         for (auto c = components.begin(); c != components.end(); ++c) {
  58                 if (c->resource == res) {
  59                         c->value += amount;
  60                         if (c->value <= 0.0) {
  61                                 amount += c->value;
  62                                 components.erase(c);
  63                         }
  64                         found = true;
  65                         break;
  66                 }
  67         }
  68         if (!found && amount > 0.0) {
  69                 components.emplace_back(res, amount);
  70         }
  71         std::sort(components.begin(), components.end(), CompositionCompare);
  72         state_mass[resources[res].state] += amount;
  73         total_mass += amount;
  74         total_volume += amount / resources[res].density;
  75 }
  76
  77 bool Composition::Has(int res) const noexcept {
  78         for (auto &c : components) {
  79                 if (c.resource == res) {
  80                         return true;
  81                 }
  82         }
  83         return false;
  84 }
  85
  86 double Composition::Get(int res) const noexcept {
  87         for (auto &c : components) {
  88                 if (c.resource == res) {
  89                         return c.value;
  90                 }
  91         }
  92         return 0.0;
  93 }
  94
  95 double Composition::Proportion(int res) const noexcept {
  96         return Get(res) / TotalMass();
  97 }
  98
  99 double Composition::StateProportion(int res) const noexcept {
 100         return Get(res) / StateMass(resources[res].state);
 101 }
 102
 103 double Composition::Compatibility(int res) const noexcept {
 104         if (Has(res)) {
 105                 return StateProportion(res);
 106         }
 107         double max_compat = -1.0;
 108         double min_compat = 1.0;
 109         for (const auto &c : components) {
 110                 double prop = c.value / StateMass(resources[res].state);
 111                 for (const auto &compat : resources[c.resource].compatibility) {
 112                         double value = compat.second * prop;
 113                         if (value > max_compat) {
 114                                 max_compat = value;
 115                         }
 116                         if (value < min_compat) {
 117                                 min_compat = value;
 118                         }
 119                 }
 120         }
 121         if (min_compat < 0.0) {
 122                 return min_compat;
 123         } else {
 124                 return max_compat;
 125         }
 126 }
 127
 128
 129 Creature::Creature(world::Simulation &sim)
 130 : sim(sim)
 131 , name()
 132 , genome()
 133 , properties()
 134 , composition(sim.Resources())
 135 , base_color(1.0)
 136 , highlight_color(0.0, 0.0, 0.0, 1.0)
 137 , mass(1.0)
 138 , size(1.0)
 139 , birth(sim.Time())
 140 , death(-1.0)
 141 , on_death()
 142 , removable(false)
 143 , parents()
 144 , stats()
 145 , memory(*this)
 146 , bg_task()
 147 , goals()
 148 , situation()
 149 , steering(*this)
 150 , heading_target(0.0, 0.0, -1.0)
 151 , heading_manual(false)
 152 , perception_range(1.0)
 153 , perception_range_squared(1.0)
 154 , perception_omni_range(1.0)
 155 , perception_omni_range_squared(1.0)
 156 , perception_field(1.0)
 157 , vao() {
 158         sim.SetAlive(this);
 159         // all creatures avoid each other for now
 160         steering.Separate(0.1, 1.5);
 161 }
 162
 163 Creature::~Creature() {
 164 }
 165
 166 void Creature::AddMass(int res, double amount) {
 167         composition.Add(res, amount);
 168         double nonsolid = 0.0;
 169         double volume = 0.0;
 170         for (const auto &c : composition) {
 171                 volume += c.value / sim.Resources()[c.resource].density;
 172                 if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 173                         nonsolid += c.value;
 174                 }
 175         }
 176         Mass(composition.TotalMass());
 177         Size(std::cbrt(volume));
 178         highlight_color.a = nonsolid / composition.TotalMass();
 179 }
 180
 181 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 182         highlight_color = glm::dvec4(c, highlight_color.a);
 183 }
 184
 185 void Creature::Ingest(int res, double amount) noexcept {
 186         if (sim.Resources()[res].state == world::Resource::SOLID) {
 187                 // 30% of solids stays in body
 188                 AddMass(res, amount * 0.3 * composition.Compatibility(res));
 189         } else {
 190                 // 10% of fluids stays in body
 191                 AddMass(res, amount * 0.1 * composition.Compatibility(res));
 192         }
 193         math::GaloisLFSR &random = sim.Assets().random;
 194         if (random.UNorm() < AdaptChance()) {
 195                 // change color to be slightly more like resource
 196                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 197                 // solids affect base color, others highlight
 198                 int p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 199                 int q = random.UInt(3); // hue, sat, or val
 200                 int r = random.UInt(2); // mean or deviation
 201                 math::Distribution *d = nullptr;
 202                 double ref = 0.0;
 203                 if (p == 0) {
 204                         if (q == 0) {
 205                                 d = &genome.base_hue;
 206                                 ref = color.x;
 207                         } else if (q == 1) {
 208                                 d = &genome.base_saturation;
 209                                 ref = color.y;
 210                         } else {
 211                                 d = &genome.base_lightness;
 212                                 ref = color.z;
 213                         }
 214                 } else {
 215                         if (q == 0) {
 216                                 d = &genome.highlight_hue;
 217                                 ref = color.x;
 218                         } else if (q == 1) {
 219                                 d = &genome.highlight_saturation;
 220                                 ref = color.y;
 221                         } else {
 222                                 d = &genome.highlight_lightness;
 223                                 ref = color.z;
 224                         }
 225                 }
 226                 if (r == 0) {
 227                         double diff = ref - d->Mean();
 228                         if (q == 0) {
 229                                 if (diff < -0.5) {
 230                                         diff += 1.0;
 231                                 } else if (diff > 0.5) {
 232                                         diff -= 1.0;
 233                                 }
 234                                 // move 0-15% of distance
 235                                 d->Mean(std::fmod(d->Mean() + diff * random.UNorm() * 0.15, 1.0));
 236                         } else {
 237                                 d->Mean(glm::clamp(d->Mean() + diff * random.UNorm() * 0.15, 0.0, 1.0));
 238                         }
 239                 } else {
 240                         // scale by ±15%, enforce bounds
 241                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 242                 }
 243         }
 244         if (sim.Resources()[res].state == world::Resource::LIQUID && random.UNorm() < AdaptChance()) {
 245                 // change texture randomly
 246                 // TODO: make change depending on surroundings and/or resource
 247                 int p = random.UInt(2); // back or side
 248                 int q = random.UInt(2); // mean or deviation
 249                 math::Distribution &d = p ? genome.skin_side : genome.skin_back;
 250                 if (q == 0) {
 251                         // move ± one standard deviation
 252                         d.Mean(d.Mean() + (random.SNorm() * d.StandardDeviation()));
 253                 } else {
 254                         // scale by ±10%, enforce bounds
 255                         d.StandardDeviation(glm::clamp(d.StandardDeviation() * (1.0 + random.SNorm() * 0.1), 0.0001, 0.5));
 256                 }
 257         }
 258 }
 259
 260 void Creature::DoWork(double amount) noexcept {
 261         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 262         // burn resources proportional to composition
 263         // factor = 1/total * 1/efficiency * amount * -1
 264         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 265         // make a copy to total remains constant and
 266         // no entries disappear during iteration
 267         Composition comp(composition);
 268         for (auto &cmp : comp) {
 269                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 270                 AddMass(cmp.resource, value);
 271         }
 272         // doing work improves strength a little
 273         properties.Strength() += amount * 0.0001;
 274 }
 275
 276 void Creature::Hurt(double amount) noexcept {
 277         stats.Damage().Add(amount);
 278         if (stats.Damage().Full()) {
 279                 Die();
 280         }
 281 }
 282
 283 void Creature::Die() noexcept {
 284         if (Dead()) return;
 285
 286         if (stats.Damage().Full()) {
 287                 std::ostream &log = sim.Log() << name << " ";
 288                 if (stats.Exhaustion().Full()) {
 289                         log << "died of exhaustion";
 290                 } else if (stats.Breath().Full()) {
 291                         log << "suffocated";
 292                 } else if (stats.Thirst().Full()) {
 293                         log << "died of thirst";
 294                 } else if (stats.Hunger().Full()) {
 295                         log << "starved to death";
 296                 } else {
 297                         log << "succumed to wounds";
 298                 }
 299                 log << " at an age of " << ui::TimeString(Age())
 300                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 301                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 302                         << ")" << std::endl;
 303         }
 304
 305         sim.SetDead(this);
 306         death = sim.Time();
 307         steering.Off();
 308         if (on_death) {
 309                 on_death(*this);
 310         }
 311         Remove();
 312 }
 313
 314 bool Creature::Dead() const noexcept {
 315         return death > birth;
 316 }
 317
 318 void Creature::Remove() noexcept {
 319         removable = true;
 320 }
 321
 322 void Creature::Removed() noexcept {
 323         bg_task.reset();
 324         goals.clear();
 325         memory.Erase();
 326         KillVAO();
 327 }
 328
 329 void Creature::AddParent(Creature &p) {
 330         parents.push_back(&p);
 331 }
 332
 333 double Creature::Age() const noexcept {
 334         return Dead() ? death - birth : sim.Time() - birth;
 335 }
 336
 337 double Creature::AgeFactor(double peak) const noexcept {
 338         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 339         // goes negative below -0.5 and starts to rise again above 1.0
 340         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 341         // guarantee at least 1%
 342         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 343 }
 344
 345 double Creature::EnergyEfficiency() const noexcept {
 346         return 0.25 * AgeFactor(0.05);
 347 }
 348
 349 double Creature::ExhaustionFactor() const noexcept {
 350         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 351 }
 352
 353 double Creature::FatigueFactor() const noexcept {
 354         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 355 }
 356
 357 double Creature::Strength() const noexcept {
 358         // TODO: replace all age factors with actual growth and decay
 359         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 360 }
 361
 362 double Creature::StrengthFactor() const noexcept {
 363         double str = Strength();
 364         return str / (str + 1.0);
 365 }
 366
 367 double Creature::Stamina() const noexcept {
 368         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 369 }
 370
 371 double Creature::StaminaFactor() const noexcept {
 372         double stm = Stamina();
 373         return stm / (stm + 1.0);
 374 }
 375
 376 double Creature::Dexerty() const noexcept {
 377         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 378 }
 379
 380 double Creature::DexertyFactor() const noexcept {
 381         double dex = Dexerty();
 382         return dex / (dex + 1.0);
 383 }
 384
 385 double Creature::Intelligence() const noexcept {
 386         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 387 }
 388
 389 double Creature::IntelligenceFactor() const noexcept {
 390         double intl = Intelligence();
 391         return intl / (intl + 1.0);
 392 }
 393
 394 double Creature::Lifetime() const noexcept {
 395         return properties.Lifetime();
 396 }
 397
 398 double Creature::Fertility() const noexcept {
 399         return properties.Fertility() * AgeFactor(0.25);
 400 }
 401
 402 double Creature::Mutability() const noexcept {
 403         return properties.Mutability();
 404 }
 405
 406 double Creature::Adaptability() const noexcept {
 407         return properties.Adaptability();
 408 }
 409
 410 double Creature::OffspringMass() const noexcept {
 411         return properties.OffspringMass();
 412 }
 413
 414 double Creature::PerceptionRange() const noexcept {
 415         return perception_range;
 416 }
 417
 418 double Creature::PerceptionOmniRange() const noexcept {
 419         return perception_omni_range;
 420 }
 421
 422 double Creature::PerceptionField() const noexcept {
 423         return perception_field;
 424 }
 425
 426 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 427         const glm::dvec3 diff(p - situation.Position());
 428         double ldiff = glm::length2(diff);
 429         if (ldiff < perception_omni_range_squared) return true;
 430         if (ldiff > perception_range_squared) return false;
 431         return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
 432 }
 433
 434 double Creature::OffspringChance() const noexcept {
 435         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 436 }
 437
 438 double Creature::MutateChance() const noexcept {
 439         return GetProperties().Mutability() * (1.0 / 3600.0);
 440 }
 441
 442 double Creature::AdaptChance() const noexcept {
 443         return GetProperties().Adaptability() * (1.0 / 120.0);
 444 }
 445
 446 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 447         g->Enable();
 448         if (goals.empty()) {
 449                 g->SetForeground();
 450         }
 451         goals.emplace_back(std::move(g));
 452 }
 453
 454 void Creature::SetBackgroundTask(std::unique_ptr<Goal> &&g) {
 455         bg_task = std::move(g);
 456 }
 457
 458 Goal &Creature::BackgroundTask() {
 459         return *bg_task;
 460 }
 461
 462 namespace {
 463
 464 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 465         return b->Urgency() < a->Urgency();
 466 }
 467
 468 }
 469
 470 void Creature::Tick(double dt) {
 471         Cache();
 472         TickState(dt);
 473         TickStats(dt);
 474         TickBrain(dt);
 475 }
 476
 477 void Creature::Cache() noexcept {
 478         double dex_fact = DexertyFactor();
 479         perception_range = 3.0 * dex_fact + size;
 480         perception_range_squared = perception_range * perception_range;
 481         perception_omni_range = 0.5 * dex_fact + size;
 482         perception_omni_range_squared = perception_omni_range * perception_omni_range;
 483         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 484         perception_field = 0.8 - dex_fact;
 485 }
 486
 487 void Creature::TickState(double dt) {
 488         steering.MaxSpeed(Dexerty());
 489         steering.MaxForce(Strength());
 490         Situation::State state(situation.GetState());
 491         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 492         Situation::Derivative b(Step(a, dt * 0.5));
 493         Situation::Derivative c(Step(b, dt * 0.5));
 494         Situation::Derivative d(Step(c, dt));
 495         Situation::Derivative f(
 496                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 497                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 498         );
 499         state.pos += f.vel * dt;
 500         state.vel += f.acc * dt;
 501         situation.EnforceConstraints(state);
 502
 503         if (!heading_manual && glm::length2(state.vel) > 0.000001) {
 504                 const glm::dvec3 normal(situation.GetPlanet().NormalAt(state.pos));
 505                 const glm::dvec3 tangent(state.vel - (normal * glm::dot(state.vel, normal)));
 506                 if (glm::length2(tangent) > 0.000001) {
 507                         heading_target = glm::normalize(tangent);
 508                 }
 509         }
 510         double ang = glm::angle(heading_target, state.dir);
 511         double turn_rate = PI * 0.75 * dt;
 512         if (ang < turn_rate) {
 513                 state.dir = heading_target;
 514                 heading_manual = false;
 515         } else {
 516                 state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, heading_target)));
 517         }
 518
 519         situation.SetState(state);
 520         // work is force times distance
 521         // keep 10% of gravity as a kind of background burn
 522         DoWork(glm::length(f.acc - (0.9 * situation.GetPlanet().GravityAt(state.pos))) * Mass() * glm::length(f.vel) * dt);
 523 }
 524
 525 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 526         Situation::State s = situation.GetState();
 527         s.pos += ds.vel * dt;
 528         s.vel += ds.acc * dt;
 529         situation.EnforceConstraints(s);
 530         glm::dvec3 force(steering.Force(s));
 531         // gravity = antinormal * mass * Gm / r²
 532         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 533         force += glm::dvec3(
 534                 -normal
 535                 * (Mass() * situation.GetPlanet().GravitationalParameter()
 536                 / glm::length2(s.pos)));
 537         // if net force is applied and in contact with surface
 538         if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
 539                 // apply friction
 540                 glm::dvec3 fn(normal * glm::dot(force, normal));
 541                 // TODO: friction somehow bigger than force?
 542                 glm::dvec3 ft(force - fn);
 543                 double u = 0.4;
 544                 glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 545                 force += friction;
 546         }
 547         return {
 548                 s.vel,
 549                 force / Mass()
 550         };
 551 }
 552
 553 void Creature::TickStats(double dt) {
 554         for (auto &s : stats.stat) {
 555                 s.Add(s.gain * dt);
 556         }
 557         // TODO: damage values depending on properties
 558         if (stats.Breath().Full()) {
 559                 constexpr double dps = 1.0 / 4.0;
 560                 Hurt(dps * dt);
 561         }
 562         if (stats.Thirst().Full()) {
 563                 constexpr double dps = 1.0 / 32.0;
 564                 Hurt(dps * dt);
 565         }
 566         if (stats.Hunger().Full()) {
 567                 constexpr double dps = 1.0 / 128.0;
 568                 Hurt(dps * dt);
 569         }
 570         if (!situation.Moving()) {
 571                 // double exhaustion recovery when standing still
 572                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 573         }
 574 }
 575
 576 void Creature::TickBrain(double dt) {
 577         bg_task->Tick(dt);
 578         bg_task->Action();
 579         memory.Tick(dt);
 580         // do background stuff
 581         if (goals.empty()) {
 582                 return;
 583         }
 584         for (auto &goal : goals) {
 585                 goal->Tick(dt);
 586         }
 587         Goal *top = &*goals.front();
 588         // if active goal can be interrupted, check priorities
 589         if (goals.size() > 1 && goals[0]->Interruptible()) {
 590                 std::sort(goals.begin(), goals.end(), GoalCompare);
 591         }
 592         if (&*goals.front() != top) {
 593                 top->SetBackground();
 594                 goals.front()->SetForeground();
 595                 top = &*goals.front();
 596         }
 597         goals[0]->Action();
 598         for (auto goal = goals.begin(); goal != goals.end();) {
 599                 if ((*goal)->Complete()) {
 600                         goals.erase(goal);
 601                 } else {
 602                         ++goal;
 603                 }
 604         }
 605         if (&*goals.front() != top) {
 606                 goals.front()->SetForeground();
 607         }
 608 }
 609
 610 math::AABB Creature::CollisionBounds() const noexcept {
 611         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 612 }
 613
 614 glm::dmat4 Creature::CollisionTransform() const noexcept {
 615         const double half_size = size * 0.5;
 616         const glm::dvec3 &pos = situation.Position();
 617         glm::dmat3 orient;
 618         orient[1] = situation.GetPlanet().NormalAt(pos);
 619         orient[2] = situation.Heading();
 620         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 621                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 622         }
 623         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 624         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 625         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 626                 * glm::dmat4(orient)
 627                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 628 }
 629
 630 void Creature::OnCollide(Creature &other) {
 631         memory.TrackCollision(other);
 632 }
 633
 634 glm::dmat4 Creature::LocalTransform() noexcept {
 635         const double half_size = size * 0.5;
 636         return CollisionTransform()
 637                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 638 }
 639
 640 void Creature::BuildVAO() {
 641         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 642         vao->Bind();
 643         vao->BindAttributes();
 644         vao->EnableAttribute(0);
 645         vao->EnableAttribute(1);
 646         vao->EnableAttribute(2);
 647         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 648         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 649         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 650         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 651         {
 652                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 653                 constexpr float offset = 1.0f;
 654                 constexpr float max_tex = 5.999f;
 655                 const float tex[6] = {
 656                         0.0f, // face
 657                         float(std::floor(skin_side * max_tex)), // left
 658                         float(std::floor(skin_back * max_tex)), // top
 659                         float(std::floor(skin_back * max_tex)), // back
 660                         float(std::floor(skin_side * max_tex)), // right
 661                         0.0f, // bottom
 662                 };
 663                 for (int surface = 0; surface < 6; ++surface) {
 664                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 665                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 666
 667                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 668                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 669                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 670                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 671                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 672                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 673                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 674                         attrib[4 * surface + 0].texture.y = 1.0f;
 675                         attrib[4 * surface + 0].texture.z = tex[surface];
 676
 677                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 678                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 679                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 680                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 681                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 682                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 683                         attrib[4 * surface + 1].texture.x = tex_u_end;
 684                         attrib[4 * surface + 1].texture.y = 1.0f;
 685                         attrib[4 * surface + 1].texture.z = tex[surface];
 686
 687                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 688                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 689                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 690                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 691                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 692                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 693                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 694                         attrib[4 * surface + 2].texture.y = 0.0f;
 695                         attrib[4 * surface + 2].texture.z = tex[surface];
 696
 697                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 698                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 699                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 700                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 701                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 702                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 703                         attrib[4 * surface + 3].texture.x = tex_u_end;
 704                         attrib[4 * surface + 3].texture.y = 0.0f;
 705                         attrib[4 * surface + 3].texture.z = tex[surface];
 706                 }
 707         }
 708         vao->BindElements();
 709         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 710         {
 711                 auto element = vao->MapElements(GL_WRITE_ONLY);
 712                 for (int surface = 0; surface < 3; ++surface) {
 713                         element[6 * surface + 0] = 4 * surface + 0;
 714                         element[6 * surface + 1] = 4 * surface + 2;
 715                         element[6 * surface + 2] = 4 * surface + 1;
 716                         element[6 * surface + 3] = 4 * surface + 1;
 717                         element[6 * surface + 4] = 4 * surface + 2;
 718                         element[6 * surface + 5] = 4 * surface + 3;
 719                 }
 720                 for (int surface = 3; surface < 6; ++surface) {
 721                         element[6 * surface + 0] = 4 * surface + 0;
 722                         element[6 * surface + 1] = 4 * surface + 1;
 723                         element[6 * surface + 2] = 4 * surface + 2;
 724                         element[6 * surface + 3] = 4 * surface + 2;
 725                         element[6 * surface + 4] = 4 * surface + 1;
 726                         element[6 * surface + 5] = 4 * surface + 3;
 727                 }
 728         }
 729         vao->Unbind();
 730 }
 731
 732 void Creature::KillVAO() {
 733         vao.reset();
 734 }
 735
 736 void Creature::Draw(graphics::Viewport &viewport) {
 737         if (!vao) return;
 738         vao->Bind();
 739         vao->DrawTriangles(6 * 6);
 740 }
 741
 742
 743 void Spawn(Creature &c, world::Planet &p) {
 744         p.AddCreature(&c);
 745         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 746         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 747         c.HeadingTarget(glm::dvec3(1.0, 0.0, 0.0));
 748
 749         // probe surrounding area for common resources
 750         int start = p.SideLength() / 2 - 2;
 751         int end = start + 5;
 752         std::map<int, double> yields;
 753         for (int y = start; y < end; ++y) {
 754                 for (int x = start; x < end; ++x) {
 755                         const world::TileType &t = p.TypeAt(0, x, y);
 756                         for (auto yield : t.resources) {
 757                                 yields[yield.resource] += yield.ubiquity;
 758                         }
 759                 }
 760         }
 761         int liquid = -1;
 762         int solid = -1;
 763         for (auto e : yields) {
 764                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 765                         if (liquid < 0 || e.second > yields[liquid]) {
 766                                 liquid = e.first;
 767                         }
 768                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 769                         if (solid < 0 || e.second > yields[solid]) {
 770                                 solid = e.first;
 771                         }
 772                 }
 773         }
 774
 775         Genome genome;
 776         genome.properties.Strength() = { 2.0, 0.1 };
 777         genome.properties.Stamina() = { 2.0, 0.1 };
 778         genome.properties.Dexerty() = { 2.0, 0.1 };
 779         genome.properties.Intelligence() = { 1.0, 0.1 };
 780         genome.properties.Lifetime() = { 480.0, 60.0 };
 781         genome.properties.Fertility() = { 0.5, 0.03 };
 782         genome.properties.Mutability() = { 0.9, 0.1 };
 783         genome.properties.Adaptability() = { 0.9, 0.1 };
 784         genome.properties.OffspringMass() = { 0.3, 0.02 };
 785
 786         glm::dvec3 color_avg(0.0);
 787         double color_divisor = 0.0;
 788
 789         if (p.HasAtmosphere()) {
 790                 c.AddMass(p.Atmosphere(), 0.005);
 791                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 792                 color_divisor += 0.1;
 793         }
 794         if (liquid > -1) {
 795                 c.AddMass(liquid, 0.3);
 796                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 797                 color_divisor += 0.5;
 798         }
 799         if (solid > -1) {
 800                 c.AddMass(solid, 0.1);
 801                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 802                 color_divisor += 1.0;
 803         }
 804
 805         if (color_divisor > 0.001) {
 806                 color_avg /= color_divisor;
 807         }
 808         glm::dvec3 hsl = rgb2hsl(color_avg);
 809         genome.base_hue = { hsl.x, 0.01 };
 810         genome.base_saturation = { hsl.y, 0.01 };
 811         genome.base_lightness = { hsl.z, 0.01 };
 812         // use opposite color as start highlight
 813         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 814         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 815         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 816
 817         genome.skin_side = { 0.5, 0.01 };
 818         genome.skin_back = { 0.5, 0.01 };
 819
 820         genome.Configure(c);
 821 }
 822
 823 void Genome::Configure(Creature &c) const {
 824         c.GetGenome() = *this;
 825
 826         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 827
 828         c.GetProperties() = Instantiate(properties, random);
 829
 830         // TODO: derive stats from properties
 831         c.GetStats().Damage().gain = (-1.0 / 100.0);
 832         c.GetStats().Breath().gain = (1.0 / 5.0);
 833         c.GetStats().Thirst().gain = (1.0 / 60.0);
 834         c.GetStats().Hunger().gain = (1.0 / 200.0);
 835         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 836         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 837         c.GetStats().Boredom().gain = (1.0 / 300.0);
 838
 839         glm::dvec3 base_color(
 840                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 841                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 842                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 843         );
 844         glm::dvec3 highlight_color(
 845                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 846                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 847                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 848         );
 849         c.BaseColor(hsl2rgb(base_color));
 850         c.HighlightColor(hsl2rgb(highlight_color));
 851         c.BackSkin(glm::clamp(skin_back.FakeNormal(random.SNorm()), 0.0, 1.0));
 852         c.SideSkin(glm::clamp(skin_side.FakeNormal(random.SNorm()), 0.0, 1.0));
 853         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 854         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 855 }
 856
 857
 858 void Split(Creature &c) {
 859         Creature *a = new Creature(c.GetSimulation());
 860         const Situation &s = c.GetSituation();
 861         a->AddParent(c);
 862         a->Name(c.GetSimulation().Assets().name.Sequential());
 863         c.GetGenome().Configure(*a);
 864         for (const auto &cmp : c.GetComposition()) {
 865                 // require at least 0.1%
 866                 if (cmp.value > 0.002) {
 867                         a->AddMass(cmp.resource, cmp.value * 0.5);
 868                 }
 869         }
 870         s.GetPlanet().AddCreature(a);
 871         // TODO: duplicate situation somehow
 872         a->GetSituation().SetPlanetSurface(
 873                 s.GetPlanet(),
 874                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.86, PI * 0.5, s.SurfaceNormal()));
 875         a->BuildVAO();
 876         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 877
 878         Creature *b = new Creature(c.GetSimulation());
 879         b->AddParent(c);
 880         b->Name(c.GetSimulation().Assets().name.Sequential());
 881         c.GetGenome().Configure(*b);
 882         for (const auto &cmp : c.GetComposition()) {
 883                 // require at least 0.1%
 884                 if (cmp.value > 0.002) {
 885                         b->AddMass(cmp.resource, cmp.value * 0.5);
 886                 }
 887         }
 888         s.GetPlanet().AddCreature(b);
 889         b->GetSituation().SetPlanetSurface(
 890                 s.GetPlanet(),
 891                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.86, PI * -0.5, s.SurfaceNormal()));
 892         b->BuildVAO();
 893         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 894
 895         c.Die();
 896 }
 897
 898
 899 Memory::Memory(Creature &c)
 900 : c(c) {
 901 }
 902
 903 Memory::~Memory() {
 904 }
 905
 906 void Memory::Erase() {
 907         known_types.clear();
 908         known_creatures.clear();
 909 }
 910
 911 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 912         double best_rating = -1.0;
 913         for (const auto &k : known_types) {
 914                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 915                 auto entry = t.FindBestResource(accept);
 916                 if (entry != t.resources.end()) {
 917                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 918                         if (rating > best_rating) {
 919                                 best_rating = rating;
 920                                 pos = k.second.first_loc.position;
 921                         }
 922                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 923                         if (rating > best_rating) {
 924                                 best_rating = rating;
 925                                 pos = k.second.last_loc.position;
 926                         }
 927                 }
 928         }
 929         if (best_rating > 0.0) {
 930                 glm::dvec3 error(
 931                         c.GetSimulation().Assets().random.SNorm(),
 932                         c.GetSimulation().Assets().random.SNorm(),
 933                         c.GetSimulation().Assets().random.SNorm());
 934                 pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
 935                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 936                 return true;
 937         } else {
 938                 return false;
 939         }
 940 }
 941
 942 void Memory::TrackCollision(Creature &other) {
 943         // TODO: find out whose fault it was
 944         // TODO: source values from personality
 945         Profile &p = known_creatures[&other];
 946         p.annoyance += 0.1;
 947         const double annoy_fact = p.annoyance / (p.annoyance + 1.0);
 948         if (c.GetSimulation().Assets().random.UNorm() > annoy_fact * 0.1 * (1.0 - c.GetStats().Damage().value)) {
 949                 AttackGoal *g = new AttackGoal(c, other);
 950                 g->SetDamageTarget(annoy_fact);
 951                 g->Urgency(annoy_fact);
 952                 c.AddGoal(std::unique_ptr<Goal>(g));
 953                 p.annoyance *= 0.5;
 954         }
 955 }
 956
 957 void Memory::Tick(double dt) {
 958         Situation &s = c.GetSituation();
 959         if (s.OnSurface()) {
 960                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 961         }
 962         // TODO: forget
 963 }
 964
 965 void Memory::TrackStay(const Location &l, double t) {
 966         const world::TileType &type = l.planet->TileTypeAt(l.position);
 967         auto entry = known_types.find(type.id);
 968         if (entry != known_types.end()) {
 969                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 970                         // "it's been ages"
 971                         if (entry->second.time_spent > c.Age() * 0.25) {
 972                                 // the place is very familiar
 973                                 c.GetStats().Boredom().Add(-0.2);
 974                         } else {
 975                                 // infrequent stays
 976                                 c.GetStats().Boredom().Add(-0.1);
 977                         }
 978                 }
 979                 entry->second.last_been = c.GetSimulation().Time();
 980                 entry->second.last_loc = l;
 981                 entry->second.time_spent += t;
 982         } else {
 983                 known_types.emplace(type.id, Stay{
 984                         c.GetSimulation().Time(),
 985                         l,
 986                         c.GetSimulation().Time(),
 987                         l,
 988                         t
 989                 });
 990                 // completely new place, interesting
 991                 // TODO: scale by personality trait
 992                 c.GetStats().Boredom().Add(-0.25);
 993         }
 994 }
 995
 996
 997 NameGenerator::NameGenerator()
 998 : counter(0) {
 999 }
1000
1001 NameGenerator::~NameGenerator() {
1002 }
1003
1004 std::string NameGenerator::Sequential() {
1005         std::stringstream ss;
1006         ss << "Blob " << ++counter;
1007         return ss.str();
1008 }
1009
1010
1011 Situation::Situation()
1012 : planet(nullptr)
1013 , state(glm::dvec3(0.0), glm::dvec3(0.0))
1014 , type(LOST) {
1015 }
1016
1017 Situation::~Situation() {
1018 }
1019
1020 bool Situation::OnPlanet() const noexcept {
1021         return type == PLANET_SURFACE;
1022 }
1023
1024 bool Situation::OnSurface() const noexcept {
1025         return type == PLANET_SURFACE;
1026 }
1027
1028 bool Situation::OnGround() const noexcept {
1029         return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
1030 }
1031
1032 glm::dvec3 Situation::SurfaceNormal() const noexcept {
1033         return planet->NormalAt(state.pos);
1034 }
1035
1036 world::Tile &Situation::GetTile() const noexcept {
1037         return planet->TileAt(state.pos);
1038 }
1039
1040 const world::TileType &Situation::GetTileType() const noexcept {
1041         return planet->TileTypeAt(state.pos);
1042 }
1043
1044 void Situation::Move(const glm::dvec3 &dp) noexcept {
1045         state.pos += dp;
1046         EnforceConstraints(state);
1047 }
1048
1049 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
1050         state.vel += dv;
1051         EnforceConstraints(state);
1052 }
1053
1054 void Situation::EnforceConstraints(State &s) const noexcept {
1055         if (OnSurface()) {
1056                 double r = GetPlanet().Radius();
1057                 if (glm::length2(s.pos) < r * r) {
1058                         const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
1059                         s.pos = normal * r;
1060                         s.vel -= normal * glm::dot(normal, s.vel);
1061                 }
1062         }
1063 }
1064
1065 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
1066         type = PLANET_SURFACE;
1067         planet = &p;
1068         state.pos = pos;
1069         EnforceConstraints(state);
1070 }
1071
1072
1073 Steering::Steering(const Creature &c)
1074 : c(c)
1075 , target(0.0)
1076 , haste(0.0)
1077 , max_force(1.0)
1078 , max_speed(1.0)
1079 , min_dist(0.0)
1080 , max_look(0.0)
1081 , separating(false)
1082 , halting(true)
1083 , seeking(false)
1084 , arriving(false) {
1085 }
1086
1087 Steering::~Steering() {
1088 }
1089
1090 void Steering::Off() noexcept {
1091         separating = false;
1092         halting = false;
1093         seeking = false;
1094         arriving = false;
1095 }
1096
1097 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
1098         separating = true;
1099         min_dist = min_distance;
1100         max_look = max_lookaround;
1101 }
1102
1103 void Steering::DontSeparate() noexcept {
1104         separating = false;
1105 }
1106
1107 void Steering::ResumeSeparate() noexcept {
1108         separating = true;
1109 }
1110
1111 void Steering::Halt() noexcept {
1112         halting = true;
1113         seeking = false;
1114         arriving = false;
1115 }
1116
1117 void Steering::Pass(const glm::dvec3 &t) noexcept {
1118         target = t;
1119         halting = false;
1120         seeking = true;
1121         arriving = false;
1122 }
1123
1124 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1125         target = t;
1126         halting = false;
1127         seeking = false;
1128         arriving = true;
1129 }
1130
1131 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1132         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1133         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1134         glm::dvec3 result(0.0);
1135         if (separating) {
1136                 // TODO: off surface situation
1137                 glm::dvec3 repulse(0.0);
1138                 const Situation &s = c.GetSituation();
1139                 for (auto &other : s.GetPlanet().Creatures()) {
1140                         if (&*other == &c) continue;
1141                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1142                         if (glm::length2(diff) > max_look * max_look) continue;
1143                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1144                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1145                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1146                 }
1147                 result += repulse;
1148         }
1149         if (halting) {
1150                 // brake hard
1151                 result += -5.0 * s.vel * force;
1152         }
1153         if (seeking) {
1154                 glm::dvec3 diff = target - s.pos;
1155                 if (!allzero(diff)) {
1156                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1157                 }
1158         }
1159         if (arriving) {
1160                 glm::dvec3 diff = target - s.pos;
1161                 double dist = glm::length(diff);
1162                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1163                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1164                 }
1165         }
1166         // remove vertical component, if any
1167         const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
1168         result -= normal * glm::dot(normal, result);
1169         // clamp to max
1170         if (glm::length2(result) > max_force * max_force) {
1171                 result = glm::normalize(result) * max_force;
1172         }
1173         return result;
1174 }
1175
1176 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1177         return (vel - s.vel) * acc;
1178 }
1179
1180 }
1181 }